EP2511053B1 - Circuit and method for monitoring a hazardous device by evaluating acceleration - Google Patents

Circuit and method for monitoring a hazardous device by evaluating acceleration Download PDF

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Publication number
EP2511053B1
EP2511053B1 EP12002590.3A EP12002590A EP2511053B1 EP 2511053 B1 EP2511053 B1 EP 2511053B1 EP 12002590 A EP12002590 A EP 12002590A EP 2511053 B1 EP2511053 B1 EP 2511053B1
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EP
European Patent Office
Prior art keywords
acceleration
acceleration sensors
circuit
circuit arrangement
arrangement according
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EP12002590.3A
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German (de)
French (fr)
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EP2511053A2 (en
EP2511053A3 (en
Inventor
Markus Rohs
Jürgen TEUTENBERG
Celarie Marceraus Donbou Kenfouet
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Phoenix Contact GmbH and Co KG
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Phoenix Contact GmbH and Co KG
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24193—Two transducers for same parameter
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24196—Plausibility check in channels for correct sequence or result
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49138—Adapt working envelop, limit, allowed zone to speed of tool

Definitions

  • the invention relates generally to safety technology and in particular to a circuit arrangement and a method for monitoring a dangerous device by evaluating the acceleration.
  • a handling machine and a method for its operation are known, with a sensor being provided for the automatic detection of an exceptional situation, such as exceeding a predetermined acceleration value, via which a device is activated which, for example, realizes the function of a safety relay for stopping a robot arm movement.
  • DE 10 2004 026185 A1 A method and a device for operating a machine, such as a multi-axis industrial robot, is described, the method providing that at least one path section is traversed in a reference run, motion-characteristic operating values are continuously measured and stored as reference values, and that When the machine is operating, these operating values are also recorded and compared with the stored reference values, acceleration sensors being able to be used to determine the reference and operating measured values, redundant sensors and different types of sensors also being able to be used.
  • the invention has for its object to show a way how the monitoring of a dangerous device can be done more easily, safely and / or cost-effectively.
  • a circuit arrangement for monitoring a dangerous device accordingly comprises at least two acceleration sensors for measuring an acceleration of at least a part of the dangerous device, at least one logic circuit for evaluating measured values of the at least two acceleration sensors, at least one memory for storing a comparison value, and at least one by Output of the safety device controlled by at least one logic circuit.
  • the safety device In response to a switching command received via the output of the at least one logic circuit, the safety device is designed to bring the dangerous device into a safe state, the at least one logic circuit sending the switching command to the at least one safety device when the measured acceleration of the at least part of the dangerous device or a quantity derived from the measured acceleration has a predetermined relationship to the stored comparison value.
  • a check is preferably carried out to determine whether the measured acceleration or a quantity derived therefrom, such as a speed or a position, for example, exceeds or falls below the predetermined comparison value.
  • comparison values such as, for example, an upper and a lower limit value for defining a target range for acceleration, speed or position, can also be stored, with a switching command if the value falls below the lower limit value or at Exceeding the upper limit is generated by the respective size.
  • a dangerous device in the sense of the present invention is any technical device from which there is a non-negligible danger to people and / or material goods.
  • the dangerous device can be a machine or system of an automation system.
  • the part of the dangerous device whose acceleration is monitored can be, for example, a tool attached to a robot arm.
  • acceleration sensor any suitable type can be used, for example a piezoelectric sensor or a sensor designed as a micro-electromechanical system (MEMS).
  • MEMS micro-electromechanical system
  • the acceleration sensors can be designed, for example, to measure linear accelerations in one, two or three spatial directions, the acceleration sensors being designed according to the invention for measuring accelerations in three spatial directions.
  • An output signal proportional to the respective acceleration is advantageously generated by the respective acceleration sensor for each measured spatial direction, the output signals being able to be provided in analog or digital form, depending on the configuration.
  • it may also be advantageous for the at least one acceleration sensor to do so is designed to measure an angular acceleration, this also being possible for one, two or three spatial axes.
  • the two-channel design with two acceleration sensors advantageously achieves an increased level of safety.
  • a separate logic circuit is particularly preferably assigned to each of the acceleration sensors, a separate safety device being controlled in particular by each of the separate logic circuits. In this way, two independent channels are formed, which can redundantly bring the dangerous device into a safe state.
  • the at least one logic circuit can advantageously be designed to determine the speed and / or the position of the at least part of the dangerous device from the measured values of the acceleration sensors. This can be done, for example, by integrating the measured acceleration values.
  • the logic circuit also referred to below as the logic unit, advantageously has inputs in order to report a specific position, such as a start or intermediate position of a predetermined movement, or a condition such as start, stop or reset to the logic unit reset the addition of measurement errors.
  • each of the logic units preferably has a corresponding memory.
  • the logic units of the redundant channels are advantageously connected to one another in order to exchange data with one another.
  • an input for supplying certain data can therefore advantageously be provided only in one logic unit, which forwards the received data to the further logic units.
  • at least one of the logic circuit has an input in order to supply the logic circuit with a limit value and / or initialization data for initializing the determined speed and / or position of the at least part of the dangerous device.
  • the logic units can also exchange the measured acceleration values with one another.
  • the circuit arrangement is also designed to check the measured values of the at least two acceleration sensors for plausibility. For this purpose, a comparison is advantageously carried out between the measured values determined by different acceleration sensors or respectively measured variables derived therefrom, such as the speed or the acceleration. In particular, for this purpose the corresponding measured values or measured variables between at least two logic circuits, which are each assigned to different acceleration sensors, be replaced. In the normal case, the different sensors deliver essentially the same measured values or derived measured variables, which essentially have the same value. If the plausibility check yields different values for different sensors, this indicates a malfunction of at least one sensor. The plausibility check thus serves to check the sensors, a corresponding signal being advantageously provided at an output of the circuit arrangement depending on the result of the plausibility check. The plausibility check is preferably carried out by at least one of the logic circuits.
  • the two acceleration sensors are arranged offset from one another by a predetermined angle, with the respectively assigned logic unit being on the evaluation of the different signals of the offset acceleration sensors is adapted.
  • Such an adaptation can be carried out in a simple manner if acceleration sensors are used which are designed to measure accelerations in three spatial directions and the acceleration sensors are arranged offset by 90 ° by rotation about the z-axis, since in this case during the evaluation only the x and y axes would have to be swapped. But it can any other angle, for example 45 °, can advantageously also be used.
  • the angular offset of the acceleration sensors is achieved in that each of the acceleration sensors is arranged in the same way on a separate printed circuit board, the printed circuit boards being arranged offset from one another by a predetermined angle.
  • the at least one safety device is advantageously designed to interrupt the power supply to the dangerous device.
  • the at least one safety device preferably comprises a relay or a semiconductor switch, for example in the form of a transistor.
  • the safety device can be designed, for example, to activate a braking device which is suitable for converting the dangerous device into a safe state by means of a braking operation.
  • a braking device which is suitable for converting the dangerous device into a safe state by means of a braking operation.
  • further embodiments of the safety device are conceivable.
  • the circuit arrangement can furthermore be at least partially designed as an integrated circuit, the integrated circuit, with a corresponding configuration of the components, the logic units and / or the acceleration sensors and / or the Security devices can include. Separate integrated circuits can also be provided for each channel.
  • a method for monitoring a dangerous device comprises measuring an acceleration of at least a part of the dangerous device by means of at least two acceleration sensors, the measured values of the at least two acceleration sensors being evaluated by at least one logic circuit.
  • An output of the at least one logic circuit controls at least one safety device, the at least one logic circuit sending a switching command to the at least one safety device if the measured acceleration of the at least part of the dangerous device or a variable derived from the measured acceleration is a predetermined value Has relationship to a stored comparison value, and wherein the at least one safety device in response to the received switching command to bring the dangerous device into a safe state.
  • Fig. 1 shows a schematic block diagram of a preferred embodiment of a circuit arrangement 10 according to the invention for monitoring a dangerous device such as a machine or system, not shown.
  • the dangerous device is connected to the power supply via the connections 350 in such a way that opening one of the switches 132 or 232 leads to an interruption of the power supply and thus to the dangerous device being switched off.
  • the circuit arrangement 10 is of two-channel design with a first channel 100 and a second channel 200, each of the channels 100 and 200 having an acceleration sensor 110 and 210, a logic unit 120 and 220, and a relay 130 and 230 for switching each one of the switches 132 and 232, respectively.
  • the acceleration sensors 110 and 210 are arranged on the dangerous device such that they can be used to measure the acceleration of at least a part of the dangerous device.
  • the of The measured values generated for the acceleration sensors 110 and 210 are supplied to the logic units 120 and 220 connected to the respective acceleration sensor.
  • Logic units 120 and 220 evaluate the received measured values and generate a switching command if the measured acceleration or a variable derived therefrom lies outside a predetermined target range or beyond a predetermined limit value, corresponding comparison values being stored in a memory of the logic units, not shown. If such a switching command is generated, it is fed to the safety relay 130 or 230 connected to the respective logic unit 120 or 220, whereupon the switch 132 or 232 is opened.
  • the logic unit 120 in the exemplary embodiment shown has an input 310 via which the logic unit 120 is signaled to initialize a speed and / or position derived from the measured acceleration to a defined value. Furthermore, the logic unit 120 has an input 320 for supplying parameters, such as one or more comparison values to be used for the evaluation.
  • the information supplied via inputs 310 and 320 is exchanged in the exemplary embodiment shown via connection 400 between logic units 120 and 220. Furthermore, measured values or variables derived from the measured values, for example for averaging are exchanged.
  • the measured values or variables derived from the measured values which are exchanged between the logic units 120 and 220, for plausibility.
  • it can be checked, for example, whether the measured variables provided by the logic units 120 and 220 are identical.
  • it can alternatively be checked whether the deviation of the measured variables from one another exceeds a predetermined value.
  • the result of the plausibility check can be output for further processing via an output (not shown). For example, it can be displayed via a user interface that the measured variables of different sensors differ from one another, which indicates a malfunction.
  • each logic unit can also have its own input for feeding the input data. Furthermore, a single input can be used for different input data using a suitable protocol.
  • Fig. 2 shows a circuit arrangement 10a, in which the acceleration sensors 110 and 210 directly with the logic units 120 and 220 and the safe outputs 134 and 234, which are used, for example, as safety relays or Semiconductor switches can be formed in one assembly, ie arranged on a common printed circuit board 400. Safe semiconductor outputs are particularly advantageous at high acceleration values.
  • the acceleration sensors 110 and 120 are arranged in a common plane to avoid failures due to a common cause, but offset by 90 ° to one another, ie rotated by 90 °.
  • Circuit arrangement 10b shown corresponds to that in FIG Fig. 2 shown with the only difference that the acceleration sensors 110 and 120 are arranged to avoid failures due to common cause by 45 ° to each other.
  • FIG. 4 A further alternative circuit arrangement 10c is shown, in which each of the acceleration sensors 110 and 210 is arranged in the same way on a separate circuit board 410 and 420, the circuit boards 410 and 420 being offset by a predetermined angle, in the example shown by 90 ° are arranged to each other.
  • the invention allows applications in safety technology which deal with dangerous movements to be implemented advantageously in a simple or inexpensive manner while at the same time ensuring high safety.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Safety Devices In Control Systems (AREA)
  • Emergency Alarm Devices (AREA)
  • Manipulator (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Description

Die Erfindung betrifft allgemein die Sicherheitstechnik und insbesondere eine Schaltungsanordnung und ein Verfahren zum Überwachen einer gefahrbringenden Einrichtung durch Auswertung der Beschleunigung.The invention relates generally to safety technology and in particular to a circuit arrangement and a method for monitoring a dangerous device by evaluating the acceleration.

Die Erfassung von Bewegungen wird heute in der Sicherheitstechnik typischerweise über Drehgeber, Resolver oder Initiatoren gelöst. Beschleunigungssensoren finden heute häufig in Mobiltelefonen, Spielkonsolen und in der Kfz-Navigation Anwendung.The detection of movements in security technology today is typically solved using encoders, resolvers or initiators. Accelerometers are often used today in mobile phones, game consoles and in car navigation.

Aus DE 10 2008 062 978 A1 ist eine Handhabungsmaschine und ein Verfahren zu deren Betrieb bekannt, wobei zur selbsttätigen Erkennung einer Ausnahmesituation wie zum Beispiel dem Überschreiten eines vorgegebenen Beschleunigungswertes ein Sensor vorgesehen ist, über den eine Einrichtung aktiviert wird, welche beispielsweise die Funktion eines Sicherheitsrelais zum Stoppen einer Roboterarmbewegung realisiert.Out DE 10 2008 062 978 A1 A handling machine and a method for its operation are known, with a sensor being provided for the automatic detection of an exceptional situation, such as exceeding a predetermined acceleration value, via which a device is activated which, for example, realizes the function of a safety relay for stopping a robot arm movement.

In DE 10 2004 026185 A1 wird ein Verfahren und eine Vorrichtung zum Betreiben einer Maschine, wie beispielsweise eines Mehrachs- Industrieroboters, beschrieben, wobei das Verfahren vorsieht, dass zumindest ein Bahnabschnitt überwacht in einer Referenzfahrt durchfahren wird, bewegungscharakteristische Betriebswerte kontinuierlich gemessen und als Referenzwerte gespeichert werden, und dass im Betrieb der Maschine ebenfalls diese Betriebswerte erfasst und mit den gespeicherten Referenzwerten verglichen werden, wobei zur Bestimmung der Referenz- und Betriebsmesswerte Beschleunigungssensoren eingesetzt werden können, wobei auch redundante Sensoren sowie unterschiedliche Arten von Sensoren zum Einsatz kommen können.In DE 10 2004 026185 A1 A method and a device for operating a machine, such as a multi-axis industrial robot, is described, the method providing that at least one path section is traversed in a reference run, motion-characteristic operating values are continuously measured and stored as reference values, and that When the machine is operating, these operating values are also recorded and compared with the stored reference values, acceleration sensors being able to be used to determine the reference and operating measured values, redundant sensors and different types of sensors also being able to be used.

Aus DE 36 34 023 A1 ist ein integriertes, redundantes Referenzsystem für die Flugregelung und zur Erzeugung von Kurs- und Lageinformationen bekannt, bei welchem eine Mehrzahl von Beschleunigungssensoren redundante Beschleunigungsinformationen liefert, wobei Mittel zur Fehlererkennung und -ausschaltung vorgesehen sind, so dass fehlerhafte Beschleunigungsinformationen eliminiert werden können.Out DE 36 34 023 A1 An integrated, redundant reference system for flight control and for generating course and position information is known, in which a plurality of acceleration sensors provide redundant acceleration information, wherein means for error detection and deactivation are provided so that incorrect acceleration information can be eliminated.

Aus US 2003/0050735 A1 ist eine Sicherheitsschaltung bekannt, welche eine Vielzahl von Sensoren auf ein Eindringen von Objekten oder Personen in den Arbeitsraum eines Roboters überwacht.Out US 2003/0050735 A1 a safety circuit is known which monitors a large number of sensors for the penetration of objects or people into the working space of a robot.

Der Erfindung liegt die Aufgabe zugrunde, einen Weg aufzuzeigen, wie die Überwachung einer gefahrbringenden Einrichtung einfacher, sicherer und/oder kostengünstiger erfolgen kann. Insbesondere ist es Aufgabe der Erfindung, eine Schaltungsanordnung und ein Verfahren anzugeben, mit der eine solche Überwachung durchgeführt werden kann.The invention has for its object to show a way how the monitoring of a dangerous device can be done more easily, safely and / or cost-effectively. In particular, it is an object of the invention to provide a circuit arrangement and a method with which such monitoring can be carried out.

Diese Aufgabe wird durch eine Schaltungsanordnung gemäß Anspruch 1 und ein Verfahren gemäß Anspruch 11 gelöst. Vorteilhafte Ausführungsformen und Weiterbildungen sind in den jeweiligen Unteransprüchen angegeben.This object is achieved by a circuit arrangement according to claim 1 and a method according to claim 11. Advantageous embodiments and further developments are specified in the respective subclaims.

Eine erfindungsgemäße Schaltungsanordnung zur Überwachung einer gefahrbringenden Einrichtung umfasst dementsprechend wenigstens zwei Beschleunigungssensoren zum Messen einer Beschleunigung wenigstens eines Teils der gefahrbringenden Einrichtung, wenigstens eine logische Schaltung zur Auswertung von Messwerten der wenigstens zwei Beschleunigungssensoren, wenigstens einen Speicher zum Speichern eines Vergleichswertes, und wenigstens eine durch einen Ausgang der wenigstens einen logischen Schaltung gesteuerte Sicherheitseinrichtung.A circuit arrangement according to the invention for monitoring a dangerous device accordingly comprises at least two acceleration sensors for measuring an acceleration of at least a part of the dangerous device, at least one logic circuit for evaluating measured values of the at least two acceleration sensors, at least one memory for storing a comparison value, and at least one by Output of the safety device controlled by at least one logic circuit.

Die Sicherheitseinrichtung ist dazu ausgebildet, in Antwort auf ein über den Ausgang der wenigstens einen logischen Schaltung empfangenen Schaltbefehl die gefahrbringende Einrichtung in einen sicheren Zustand zu überführen, wobei die wenigstens eine logische Schaltung den Schaltbefehl an die wenigstens eine Sicherheitseinrichtung sendet, wenn die gemessene Beschleunigung des wenigstens einen Teils der gefahrbringenden Einrichtung oder eine aus der gemessenen Beschleunigung abgeleitete Größe ein vorgegebenes Verhältnis zu dem gespeicherten Vergleichswert aufweist. Vorzugsweise erfolgt eine Prüfung, ob die gemessene Beschleunigung oder eine daraus abgeleitete Größe wie beispielsweise eine Geschwindigkeit oder eine Position den vorgegebenen Vergleichswert über- oder unterschreitet. Es können auch mehrere Vergleichswerte, wie beispielsweise ein oberer und ein unterer Grenzwert zur Festlegung eines Sollbereiches für Beschleunigung, Geschwindigkeit oder Position gespeichert werden, wobei ein Schaltbefehl bei Unterschreiten des unteren Grenzwertes oder bei Überschreiten des oberen Grenzwertes durch die jeweilige Größe erzeugt wird.In response to a switching command received via the output of the at least one logic circuit, the safety device is designed to bring the dangerous device into a safe state, the at least one logic circuit sending the switching command to the at least one safety device when the measured acceleration of the at least part of the dangerous device or a quantity derived from the measured acceleration has a predetermined relationship to the stored comparison value. A check is preferably carried out to determine whether the measured acceleration or a quantity derived therefrom, such as a speed or a position, for example, exceeds or falls below the predetermined comparison value. Several comparison values, such as, for example, an upper and a lower limit value for defining a target range for acceleration, speed or position, can also be stored, with a switching command if the value falls below the lower limit value or at Exceeding the upper limit is generated by the respective size.

Eine gefahrbringende Einrichtung im Sinne der vorliegenden Erfindung ist jede technische Einrichtung, von der eine nicht zu vernachlässigende Gefahr für Menschen und/oder materielle Güter ausgeht. Beispielsweise kann die gefahrbringende Einrichtung eine Maschine oder Anlage eines Automatisierungssystems sein. Der Teil der gefahrbringenden Einrichtung, dessen Beschleunigung überwacht wird, kann beispielsweise ein an einem Roboterarm befestigtes Werkzeug sein.A dangerous device in the sense of the present invention is any technical device from which there is a non-negligible danger to people and / or material goods. For example, the dangerous device can be a machine or system of an automation system. The part of the dangerous device whose acceleration is monitored can be, for example, a tool attached to a robot arm.

Prinzipiell kann jede geeignete Art von Beschleunigungssensor eingesetzt werden, beispielsweise ein piezoelektrischer Sensor oder ein als mikro-elektromechanisches System (MEMS) ausgebildeter Sensor.In principle, any suitable type of acceleration sensor can be used, for example a piezoelectric sensor or a sensor designed as a micro-electromechanical system (MEMS).

Je nach Einsatzzweck können die Beschleunigungssensoren beispielsweise dazu ausgebildet sein, lineare Beschleunigungen in ein, zwei oder drei Raumrichtungen zu messen, wobei die Beschleunigungssensoren erfindungsgemäß zum Messen von Beschleunigungen in drei Raumrichtungen ausgebildet sind. Vorteilhaft wird von dem jeweiligen Beschleunigungssensor für jede gemessene Raumrichtung ein der jeweiligen Beschleunigung proportionales Ausgangssignal erzeugt, wobei die Ausgangssignale je nach Ausgestaltung analog oder digital bereitgestellt werden können. Für bestimmte Einsatzzwecke kann es ferner vorteilhaft sein, dass der wenigstens eine Beschleunigungssensor dazu ausgebildet ist, eine Winkelbeschleunigung zu messen, wobei auch dies für ein, zwei oder drei Raumachsen erfolgen kann.Depending on the intended use, the acceleration sensors can be designed, for example, to measure linear accelerations in one, two or three spatial directions, the acceleration sensors being designed according to the invention for measuring accelerations in three spatial directions. An output signal proportional to the respective acceleration is advantageously generated by the respective acceleration sensor for each measured spatial direction, the output signals being able to be provided in analog or digital form, depending on the configuration. For certain purposes, it may also be advantageous for the at least one acceleration sensor to do so is designed to measure an angular acceleration, this also being possible for one, two or three spatial axes.

Durch die zweikanalige Ausgestaltung mit zwei Beschleunigungssensoren wird vorteilhaft ein erhöhtes Maß an Sicherheit erreicht. Besonders bevorzugt ist jedem der Beschleunigungssensoren jeweils eine separate logische Schaltung zugeordnet, wobei insbesondere durch jede der separaten logischen Schaltungen eine separate Sicherheitseinrichtung gesteuert wird. Auf diese Weise werden zwei unabhängige Kanäle gebildet, welche redundant die gefahrbringende Einrichtung in einen sicheren Zustand überführen können.The two-channel design with two acceleration sensors advantageously achieves an increased level of safety. A separate logic circuit is particularly preferably assigned to each of the acceleration sensors, a separate safety device being controlled in particular by each of the separate logic circuits. In this way, two independent channels are formed, which can redundantly bring the dangerous device into a safe state.

Die wenigstens eine logische Schaltung kann vorteilhaft dazu ausgebildet sein, aus den Messwerten der Beschleunigungssensoren die Geschwindigkeit und/oder die Position des wenigstens einen Teils der gefahrbringenden Einrichtung zu ermitteln. Dies kann beispielsweise durch Integration der gemessenen Beschleunigungswerte erfolgen. Die mathematische Integration der Beschleunigungswerte über die Zeit kann jedoch durch Addition von Messfehlern auf Dauer zu einer falschen Annahme der realen Geschwindigkeit oder Position führen. Deshalb verfügt die logische Schaltung, im Folgenden auch als Logikeinheit bezeichnet, vorteilhaft über Eingänge, um eine bestimmte Position, wie beispielsweise eine Start- oder Zwischenposition einer vorgegebenen Bewegung, oder eine Bedingung wie beispielsweise Start, Stop oder Reset an die Logikeinheit zu melden, um die Addition der Messfehler zurückzusetzen.The at least one logic circuit can advantageously be designed to determine the speed and / or the position of the at least part of the dangerous device from the measured values of the acceleration sensors. This can be done, for example, by integrating the measured acceleration values. However, the mathematical integration of the acceleration values over time can lead to an incorrect assumption of the real speed or position in the long run by adding measurement errors. Therefore, the logic circuit, also referred to below as the logic unit, advantageously has inputs in order to report a specific position, such as a start or intermediate position of a predetermined movement, or a condition such as start, stop or reset to the logic unit reset the addition of measurement errors.

Ferner kann ein Eingang vorgesehen sein, über den der Logikeinheit ein Grenzwert zugeführt wird, welcher in dem Speicher gespeichert wird. Vorzugsweise weist zu diesem Zweck jede der Logikeinheiten einen entsprechenden Speicher auf.Furthermore, an input can be provided via which a limit value is fed to the logic unit and is stored in the memory. For this purpose, each of the logic units preferably has a corresponding memory.

Vorteilhaft sind die Logikeinheiten der redundanten Kanäle miteinander verbunden, um untereinander Daten auszutauschen. Zur Vereinfachung der Schaltungsanordnung kann daher vorteilhaft nur bei einer Logikeinheit ein Eingang zum Zuführen bestimmter Daten vorgesehen sein, wobei diese die empfangenen Daten an die weiteren Logikeinheiten weiterreicht. Dementsprechend weist vorzugsweise nur wenigstens eine der logischen Schaltung einen Eingang auf, um der logischen Schaltung einen Grenzwert und/oder Initialisierungsdaten zum Initialisieren der ermittelten Geschwindigkeit und/oder Position des wenigstens einen Teils der gefahrbringenden Einrichtung zuzuführen. Die Logikeinheiten können ferner auch die gemessenen Beschleunigungswerte untereinander austauschen.The logic units of the redundant channels are advantageously connected to one another in order to exchange data with one another. To simplify the circuit arrangement, an input for supplying certain data can therefore advantageously be provided only in one logic unit, which forwards the received data to the further logic units. Accordingly, preferably only at least one of the logic circuit has an input in order to supply the logic circuit with a limit value and / or initialization data for initializing the determined speed and / or position of the at least part of the dangerous device. The logic units can also exchange the measured acceleration values with one another.

Die Schaltungsanordnung ist ferner dazu ausgebildet, die Messwerte der wenigstens zwei Beschleunigungssensoren auf Plausibilität zu prüfen. Zu diesem Zweck erfolgt vorteilhaft ein Vergleich der durch unterschiedliche Beschleunigungssensoren ermittelten Messwerte oder jeweils daraus ermittelter Messgrößen wie der Geschwindigkeit oder der Beschleunigung. Insbesondere können zu diesem Zweck die entsprechenden Messwerte oder Messgrößen zwischen wenigstens zwei logischen Schaltungen, die jeweils unterschiedlichen Beschleunigungssensoren zugeordnet sind, ausgetauscht werden. Im Normalfall liefern die unterschiedlichen Sensoren im Wesentlichen gleiche Messwerte bzw. abgeleitete Messgrößen, die im Wesentlichen den gleichen Wert aufweisen. Ergibt die Plausibilitätsprüfung voneinander abweichende Werte für unterschiedliche Sensoren, so deutet dies auf eine Fehlfunktion wenigstens eines Sensors hin. Die Plausibilitätsprüfung dient somit der Überprüfung der Sensoren, wobei vorteilhaft in Abhängigkeit des Ergebnisses der Plausibilitätsprüfung ein entsprechendes Signal an einem Ausgang der Schaltungsanordnung bereitgestellt wird. Die Plausibilitätsprüfung wird vorzugsweise durch wenigstens eine der logischen Schaltungen ausgeführt.The circuit arrangement is also designed to check the measured values of the at least two acceleration sensors for plausibility. For this purpose, a comparison is advantageously carried out between the measured values determined by different acceleration sensors or respectively measured variables derived therefrom, such as the speed or the acceleration. In particular, for this purpose the corresponding measured values or measured variables between at least two logic circuits, which are each assigned to different acceleration sensors, be replaced. In the normal case, the different sensors deliver essentially the same measured values or derived measured variables, which essentially have the same value. If the plausibility check yields different values for different sensors, this indicates a malfunction of at least one sensor. The plausibility check thus serves to check the sensors, a corresponding signal being advantageously provided at an output of the circuit arrangement depending on the result of the plausibility check. The plausibility check is preferably carried out by at least one of the logic circuits.

Zur Vermeidung von Ausfällen aufgrund gemeinsamer Ursache (common cause failures), bedingt beispielsweise durch einen gemeinsamen Konstruktionsfehler der Beschleunigungssensoren, welche zu einer unerwünschten Aufhebung der Redundanz führen könnten, sind die zwei Beschleunigungssensoren um einen vorgegeben Winkel versetzt zueinander angeordnet, wobei die jeweils zugeordnete Logikeinheit an die Auswertung der jeweils unterschiedlichen Signale der versetzt angeordneten Beschleunigungssensoren angepasst ist. Auf einfache Weise kann eine solche Anpassung erfolgen, wenn Beschleunigungssensoren eingesetzt werden, welche zum Messen von Beschleunigungen in drei Raumrichtungen ausgebildet sind, und die Beschleunigungssensoren durch eine Drehung um die z-Achse um 90° versetzt angeordnet sind, da in diesem Fall bei der Auswertung lediglich die x- und y-Achsen vertauscht werden müssten. Es kann aber vorteilhaft auch jeder andere Winkel, beispielsweise 45°, verwendet werden.To avoid failures due to a common cause (common cause failures), for example due to a common design error of the acceleration sensors, which could lead to an undesired cancellation of the redundancy, the two acceleration sensors are arranged offset from one another by a predetermined angle, with the respectively assigned logic unit being on the evaluation of the different signals of the offset acceleration sensors is adapted. Such an adaptation can be carried out in a simple manner if acceleration sensors are used which are designed to measure accelerations in three spatial directions and the acceleration sensors are arranged offset by 90 ° by rotation about the z-axis, since in this case during the evaluation only the x and y axes would have to be swapped. But it can any other angle, for example 45 °, can advantageously also be used.

In einer bevorzugten Ausführungsform wird der Winkelversatz der Beschleunigungssensoren dadurch erreicht, dass jeder der Beschleunigungssensoren jeweils auf gleiche Weise auf einer separaten Leiterplatte angeordnet ist, wobei die Leiterplatten um einen vorgegebenen Winkel versetzt zueinander angeordnet sind.In a preferred embodiment, the angular offset of the acceleration sensors is achieved in that each of the acceleration sensors is arranged in the same way on a separate printed circuit board, the printed circuit boards being arranged offset from one another by a predetermined angle.

Zum Überführen der gefahrbringenden Einrichtung in einen sicheren Zustand kann diese vorzugsweise abgeschaltet werden. Dementsprechend ist die wenigstens eine Sicherheitseinrichtung vorteilhaft zur Unterbrechung der Stromversorgung der gefahrbringenden Einrichtung ausgebildet. Bevorzugt umfasst die wenigstens eine Sicherheitseinrichtung zu diesem Zweck ein Relais oder einen beispielsweise als Transistor ausgebildeten Halbleiterschalter. Alternativ kann die Sicherheitseinrichtung beispielsweise zur Aktivierung einer Bremseinrichtung ausgebildet sein, welche dazu geeignet ist, die gefahrbringende Einrichtung durch einen Bremsvorgang in einen sicheren Zustand zu überführen. Je nach Ausgestaltung der gefahrbringenden Einrichtung sind weitere Ausführungsformen der Sicherheitseinrichtung denkbar.To transfer the dangerous device into a safe state, it can preferably be switched off. Accordingly, the at least one safety device is advantageously designed to interrupt the power supply to the dangerous device. For this purpose, the at least one safety device preferably comprises a relay or a semiconductor switch, for example in the form of a transistor. Alternatively, the safety device can be designed, for example, to activate a braking device which is suitable for converting the dangerous device into a safe state by means of a braking operation. Depending on the design of the dangerous device, further embodiments of the safety device are conceivable.

Vorteilhaft kann die Schaltungsanordnung ferner zumindest teilweise als integrierte Schaltung ausgebildet sein, wobei die integrierte Schaltung bei entsprechender Ausgestaltung der Komponenten die Logikeinheiten und/oder die Beschleunigungssensoren und/oder die Sicherheitseinrichtungen umfassen kann. Auch können für jeden Kanal separate integrierte Schaltungen vorgesehen sein.Advantageously, the circuit arrangement can furthermore be at least partially designed as an integrated circuit, the integrated circuit, with a corresponding configuration of the components, the logic units and / or the acceleration sensors and / or the Security devices can include. Separate integrated circuits can also be provided for each channel.

Ein Verfahren zum Überwachen einer gefahrbringenden Einrichtung umfasst das Messen einer Beschleunigung wenigstens eines Teils der gefahrbringenden Einrichtung mittels wenigstens zwei Beschleunigungssensoren, wobei die Messwerte der wenigstens zwei Beschleunigungssensoren durch wenigstens eine logische Schaltung ausgewertet werden. Durch einen Ausgang der wenigstens einen logischen Schaltung wird wenigstens eine Sicherheitseinrichtung gesteuert, wobei die wenigstens eine logische Schaltung einen Schaltbefehl an die wenigstens eine Sicherheitseinrichtung sendet, wenn die gemessene Beschleunigung des wenigstens einen Teils der gefahrbringenden Einrichtung oder eine aus der gemessenen Beschleunigung abgeleitete Größe ein vorgegebenes Verhältnis zu einem gespeicherten Vergleichswert aufweist, und wobei die wenigstens eine Sicherheitseinrichtung in Antwort auf den empfangenen Schaltbefehl die gefahrbringende Einrichtung in einen sicheren Zustand zu überführt.A method for monitoring a dangerous device comprises measuring an acceleration of at least a part of the dangerous device by means of at least two acceleration sensors, the measured values of the at least two acceleration sensors being evaluated by at least one logic circuit. An output of the at least one logic circuit controls at least one safety device, the at least one logic circuit sending a switching command to the at least one safety device if the measured acceleration of the at least part of the dangerous device or a variable derived from the measured acceleration is a predetermined value Has relationship to a stored comparison value, and wherein the at least one safety device in response to the received switching command to bring the dangerous device into a safe state.

Die Erfindung wird nachfolgend beispielhaft anhand bevorzugter Ausführungsformen und unter Bezugnahme auf die beigefügten Zeichnungen genauer beschrieben. Dabei bezeichnen gleiche Bezugszeichen in den Zeichnungen gleiche oder ähnliche Teile. Es zeigen:

Fig. 1
ein schematisches Blockschaltbild einer bevorzugten Ausführungsform einer erfindungsgemäßen Schaltungsanordnung,
Fig. 2
schematisch eine erste bevorzugte Anordnung der in Fig. 1 dargestellten Komponenten,
Fig. 3
schematisch eine zweite bevorzugte Anordnung der in Fig. 1 dargestellten Komponenten, und
Fig. 4
schematisch eine dritte bevorzugte Anordnung der in Fig. 1 dargestellten Komponenten.
The invention is described in more detail below by way of example using preferred embodiments and with reference to the accompanying drawings. The same reference numerals in the drawings designate the same or similar parts. Show it:
Fig. 1
2 shows a schematic block diagram of a preferred embodiment of a circuit arrangement according to the invention,
Fig. 2
schematically a first preferred arrangement of the in Fig. 1 components shown,
Fig. 3
schematically shows a second preferred arrangement of the in Fig. 1 components shown, and
Fig. 4
schematically shows a third preferred arrangement of the in Fig. 1 components shown.

Fig. 1 zeigt ein schematisches Blockschaltbild einer bevorzugten Ausführungsform einer erfindungsgemäßen Schaltungsanordnung 10 zum Überwachen einer gefahrbringenden Einrichtung wie beispielsweise einer nicht dargestellten Maschine oder Anlage. In dem dargestellten Beispiel ist die gefahrbringende Einrichtung derart über die Anschlüsse 350 an die Stromversorgung angeschlossen, dass das Öffnen eines der Schalter 132 oder 232 zu einer Unterbrechung der Stromversorgung und damit zur Abschaltung der gefahrbringenden Einrichtung führt. Fig. 1 shows a schematic block diagram of a preferred embodiment of a circuit arrangement 10 according to the invention for monitoring a dangerous device such as a machine or system, not shown. In the example shown, the dangerous device is connected to the power supply via the connections 350 in such a way that opening one of the switches 132 or 232 leads to an interruption of the power supply and thus to the dangerous device being switched off.

Die Schaltungsanordnung 10 ist zweikanalig ausgebildet mit einem ersten Kanal 100 und einem zweiten Kanal 200, wobei jeder der Kanäle 100 bzw. 200 einen Beschleunigungssensor 110 bzw. 210, eine Logikeinheit 120 bzw. 220, sowie ein Relais 130 bzw. 230 zum Schalten jeweils der eines der Schalter 132 bzw. 232 umfasst.The circuit arrangement 10 is of two-channel design with a first channel 100 and a second channel 200, each of the channels 100 and 200 having an acceleration sensor 110 and 210, a logic unit 120 and 220, and a relay 130 and 230 for switching each one of the switches 132 and 232, respectively.

Die Beschleunigungssensoren 110 und 210 sind derart an der gefahrbringenden Einrichtung angeordnet, dass mit diesen die Beschleunigung wenigstens eines Teils der gefahrbringenden Einrichtung gemessen werden kann. Die von den Beschleunigungssensoren 110 bzw. 210 erzeugten Messwerte werden jeweils der mit dem jeweiligen Beschleunigungssensor verbundenen Logikeinheit 120 bzw. 220 zugeführt. Die Logikeinheiten 120 und 220 werten die empfangenen Messwerte aus und erzeugen einen Schaltbefehl, sofern die gemessene Beschleunigung oder eine daraus abgeleitete Größe außerhalb eines vorgegebenen Sollbereiches bzw. jenseits eines vorgegebene Grenzwertes liegt, wobei entsprechende Vergleichswerte in einem nicht dargestellten Speicher der Logikeinheiten hinterlegt sind. Wird ein solcher Schaltbefehl erzeugt, so wird dieser dem mit der jeweiligen Logikeinheit 120 bzw. 220 verbundenen Sicherheitsrelais 130 bzw. 230 zugeführt, woraufhin der Schalter 132 bzw. 232 geöffnet wird.The acceleration sensors 110 and 210 are arranged on the dangerous device such that they can be used to measure the acceleration of at least a part of the dangerous device. The of The measured values generated for the acceleration sensors 110 and 210 are supplied to the logic units 120 and 220 connected to the respective acceleration sensor. Logic units 120 and 220 evaluate the received measured values and generate a switching command if the measured acceleration or a variable derived therefrom lies outside a predetermined target range or beyond a predetermined limit value, corresponding comparison values being stored in a memory of the logic units, not shown. If such a switching command is generated, it is fed to the safety relay 130 or 230 connected to the respective logic unit 120 or 220, whereupon the switch 132 or 232 is opened.

Zusätzlich kann durch Integration der Beschleunigungswerte auf die tatsächliche Geschwindigkeit oder Position rückgeschlossen werden. Aufgrund sich addierender Messfehler bei der Integration weist die Logikeinheit 120 im dargestellten Ausführungsbeispiel einen Eingang 310 auf, über den der Logikeinheit 120 signalisiert wird, eine aus der gemessenen Beschleunigung abgeleitete Geschwindigkeit und/oder Position auf einen definierten Wert zu initialisieren. Ferner weist die Logikeinheit 120 einen Eingang 320 für das Zuführen von Parametern, wie beispielsweise einem oder mehreren für die Auswertung zu verwendenden Vergleichswerten, auf. Die über die Eingänge 310 und 320 zugeführten Informationen werden im dargestellten Ausführungsbeispiel über die Verbindung 400 zwischen den Logikeinheiten 120 und 220 ausgetauscht. Ferner können über die Verbindung 400 auch Messwerte oder aus den Messwerten abgeleitete Größen, beispielsweise für eine Mittelwertbildung, ausgetauscht werden. Zur Überprüfung der eingesetzten Sensoren ist zudem vorteilhaft vorgesehen, die Messwerte oder aus den Messwerten abgeleitete Größen, die zwischen den Logikeinheiten 120 und 220 ausgetauscht werden, logisch auf Plausibilität zu prüfen. Zu diesem Zweck kann beispielsweise geprüft werden, ob die von den Logikeinheiten 120 und 220 bereitgestellten Messgrößen identisch sind. Abhängig von der Genauigkeit der Messgrößen kann alternativ auch geprüft werden, ob die Abweichung der Messgrößen voneinander einen vorgegebenen Wert überschreitet. Das Ergebnis der Plausibilitätsprüfung kann über einen nicht dargestellten Ausgang zur Weiterverarbeitung ausgegeben werden. So kann zum Beispiel über eine Benutzerschnittstelle angezeigt werden, dass die Messgrößen unterschiedlicher Sensoren voneinander abweichen, was auf eine Fehlfunktion hindeutet.In addition, the actual speed or position can be deduced by integrating the acceleration values. Due to the addition of measurement errors during the integration, the logic unit 120 in the exemplary embodiment shown has an input 310 via which the logic unit 120 is signaled to initialize a speed and / or position derived from the measured acceleration to a defined value. Furthermore, the logic unit 120 has an input 320 for supplying parameters, such as one or more comparison values to be used for the evaluation. The information supplied via inputs 310 and 320 is exchanged in the exemplary embodiment shown via connection 400 between logic units 120 and 220. Furthermore, measured values or variables derived from the measured values, for example for averaging are exchanged. To check the sensors used, provision is also advantageously made to logically check the measured values or variables derived from the measured values, which are exchanged between the logic units 120 and 220, for plausibility. For this purpose, it can be checked, for example, whether the measured variables provided by the logic units 120 and 220 are identical. Depending on the accuracy of the measured variables, it can alternatively be checked whether the deviation of the measured variables from one another exceeds a predetermined value. The result of the plausibility check can be output for further processing via an output (not shown). For example, it can be displayed via a user interface that the measured variables of different sensors differ from one another, which indicates a malfunction.

Alternativ zum Austausch der Eingangsdaten über die Verbindung 400 kann auch jede Logikeinheit jeweils einen eigenen Eingang für das Zuführen der Eingangsdaten aufweisen. Ferner kann unter Verwendung eines geeigneten Protokolls auch ein einzelner Eingang für unterschiedliche Eingangsdaten verwendet werden.As an alternative to exchanging the input data via the connection 400, each logic unit can also have its own input for feeding the input data. Furthermore, a single input can be used for different input data using a suitable protocol.

In den Figuren 2, 3 und 4 sind schematisch verschiedene bevorzugte Anordnungen der in Fig. 1 dargestellten Komponenten dargestellt.In the Figures 2, 3 and 4th are schematically various preferred arrangements of the in Fig. 1 components shown.

Fig. 2 zeigt eine Schaltungsanordnung 10a, bei welcher die Beschleunigungssensoren 110 und 210 direkt mit den LogikEinheiten 120 und 220 und den sicheren Ausgängen 134 und 234, welche beispielsweise als Sicherheitsrelais oder Halbleiterschalter ausgebildet sein können, in einer Baugruppe, d.h. auf einer gemeinsamen Leiterplatte 400 angeordnet sind. Sichere Halbleiterausgänge sind insbesondere bei hohen Beschleunigungswerten vorteilhaft. Im dargestellten Ausführungsbeispiel sind die Beschleunigungssensoren 110 und 120 zur Vermeidung von Ausfällen aufgrund gemeinsamer Ursache in einer gemeinsamen Ebene, aber um 90° zueinander versetzt, d.h. um 90° gedreht, angeordnet. Fig. 2 shows a circuit arrangement 10a, in which the acceleration sensors 110 and 210 directly with the logic units 120 and 220 and the safe outputs 134 and 234, which are used, for example, as safety relays or Semiconductor switches can be formed in one assembly, ie arranged on a common printed circuit board 400. Safe semiconductor outputs are particularly advantageous at high acceleration values. In the exemplary embodiment shown, the acceleration sensors 110 and 120 are arranged in a common plane to avoid failures due to a common cause, but offset by 90 ° to one another, ie rotated by 90 °.

Die in Fig. 3 dargestellte Schaltungsanordnung 10b entspricht der in Fig. 2 dargestellten mit dem einzigen Unterschied, dass die Beschleunigungssensoren 110 und 120 zur Vermeidung von Ausfällen aufgrund gemeinsamer Ursache um 45° zueinander versetzt angeordnet sind.In the Fig. 3 Circuit arrangement 10b shown corresponds to that in FIG Fig. 2 shown with the only difference that the acceleration sensors 110 and 120 are arranged to avoid failures due to common cause by 45 ° to each other.

In Fig. 4 ist eine weitere alternative Schaltungsanordnung 10c dargestellt, bei welcher jeder der Beschleunigungssensoren 110 und 210 jeweils auf gleiche Weise auf einer separaten Leiterplatte 410 bzw. 420 angeordnet ist, wobei die Leiterplatten 410 und 420 um einen vorgegebenen Winkel, im dargestellten Beispiel um 90°, versetzt zueinander angeordnet sind.In Fig. 4 A further alternative circuit arrangement 10c is shown, in which each of the acceleration sensors 110 and 210 is arranged in the same way on a separate circuit board 410 and 420, the circuit boards 410 and 420 being offset by a predetermined angle, in the example shown by 90 ° are arranged to each other.

Durch die Erfindung lassen sich Applikationen der Sicherheitstechnik, die sich mit gefährlichen Bewegungen beschäftigen, vorteilhaft auf einfache bzw. preisgünstige Weise bei gleichzeitiger Gewährleistung hoher Sicherheit realisieren.The invention allows applications in safety technology which deal with dangerous movements to be implemented advantageously in a simple or inexpensive manner while at the same time ensuring high safety.

Claims (11)

  1. A circuit arrangement (10, 10a, 10b, 10c) for monitoring a hazardous device comprising
    - at least two acceleration sensors (110, 210) for measuring an acceleration of at least a part of the hazardous device, wherein the acceleration sensors (110, 210) are embodied to measure accelerations in three directions in space, and wherein the two acceleration sensors (110, 210) are arranged offset to one another by a predetermined angle to avoid common cause failures,
    - at least one logic circuit (120, 220) for evaluating measured values of the at least two acceleration sensors (110, 210),
    - at least one memory for storing a comparison value, and
    - at least one safety device (130, 132; 230, 232; 134; 234) controlled by an output of the at least one logic circuit (120, 220), which is embodied in response to a switching command received via the output of the at least one logic circuit (120, 220), to convert the hazardous device to a safe state, wherein the at least one logic circuit (120, 220) transmits the switching command to the at least one safety device (130, 132; 230, 232; 134; 234) when the measured acceleration of the at least one part of the hazardous device or a value derived from the measured acceleration has a predetermined ratio to the stored comparison value, wherein the circuit arrangement is embodied to test the measured values of the at least two acceleration sensors (110, 210) for plausibility.
  2. The circuit arrangement according to claim 1, wherein a separate logic circuit (120, 220) is respectively assigned to each of the acceleration sensors (110, 210).
  3. The circuit arrangement according to claim 1, wherein the separate logic circuits (120, 220) are connected to one another and embodied to exchange data with one another.
  4. The circuit arrangement according to one of the preceding claims, wherein a separate safety device (130, 132; 230, 232; 134; 234) is controlled by each of the at least one logic circuits (120, 220).
  5. The circuit arrangement according to one of the preceding claims, wherein the at least one logic circuit (120, 220) is embodied to determine the speed and/or the position of the at least one part of the hazardous device from the measured values of the acceleration sensors (110, 210).
  6. The circuit arrangement according to one of the preceding claims, wherein at least one of the logic circuits (120, 220) has an input (310, 320) in order to feed to the logic circuit (120, 220) a comparison value and/or initialization data for initializing the determined speed and/or position of the at least one part of the hazardous device.
  7. The circuit arrangement according to one of the preceding claims, wherein each of the acceleration sensors (110, 210) is respectively arranged in the same manner on a separate circuit board (410, 420), and wherein the circuit boards (410, 420) are arranged offset to one another by a predetermined angle.
  8. The circuit arrangement according to one of the preceding claims, wherein the at least one safety device (130, 132; 230, 232; 134; 234) is embodied to disconnect the power supply of the hazardous device or to activate a brake device.
  9. The circuit arrangement according to one of the preceding claims, wherein the at least one safety device (130, 132; 230, 232; 134; 234) comprises a relay (130, 230) or a semiconductor switch.
  10. The circuit arrangement according to one of the preceding claims, embodied at least in part as an integrated circuit.
  11. A method for monitoring a hazardous device, comprising the steps:
    - measurement of an acceleration of at least a part of the hazardous device by means of at least two acceleration sensors (110, 210), wherein the acceleration sensors (110, 210) are embodied to measure accelerations in three directions in space, and wherein the two acceleration sensors (110, 210) are arranged offset to one another by a predetermined angle to avoid common cause failures,
    - storage of a comparison value,
    - evaluation of measured values of the least two acceleration sensors (110, 210) by at least one logic circuit (120, 220), wherein the measured values of the at least two acceleration sensors (110, 210) are tested for plausibility,
    - control of at least one safety device (130, 132; 230, 232; 134; 234) by an output of the at least one logic circuit (120, 220), wherein the at least one logic circuit (120, 220) transmits a switching command to the at least one safety device (130, 132; 230, 232; 134; 234) when the measured acceleration of the at least one part of the hazardous device or a value derived from the measured acceleration has a predetermined ratio to the stored comparison value, and wherein the at least one safety device (130, 132; 230, 232; 134; 234) in response to the received switching command converts the hazardous device into a safe state.
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DE3634023A1 (en) * 1986-10-07 1988-04-21 Bodenseewerk Geraetetech INTEGRATED, REDUNDANT REFERENCE SYSTEM FOR FLIGHT CONTROL AND FOR GENERATING COURSE AND LOCATION INFORMATION

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EP2511053A3 (en) 2015-07-22
CN102736544A (en) 2012-10-17

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